With the development of unmanned military technology， unmanned short-range air combat has attracted much attention from military powers in the world. Faced with the threat of high-speed and high-maneuverability attacker missiles， traditional passive defense measures such as throwing chaffs or releasing hot flame bombs fail to ensure the safe escape of target aircraft. It is a feasible method to implement active defense by launching defender missiles to coordinate the maneuvering of target aircraft. However， due to the strong maneuverability of the attacker missile and unknown acceleration information， it is difficult to design the guidance law of cooperative target aircraft-missile. An active defense line-of-sight （LOS） guidance law based on disturbance compensation was proposed in this paper. A nonlinear disturbance observer was designed to estimate the influence of the maneuverability from the attacker missile， which was compensated for in the design of active defense LOS guidance law for the cooperation of aircraft and missile. The results of the simulation indicate that the method used in this paper can effectively defend the attacker missile with unknown maneuverability. The study in this paper thus provides a reference for the three-body attack and defense problem.

Aiming at the problem of airspace configuration of AWACS in irregular polygonal responsibility area in air defense operations， based on the real-time detection area formed by the shortest direct flight distance and the smallest turning diameter of the AWACS patrol route， the AWACS responsibility subarea and the corresponding available airspace for AWACS patrol are determined through optimization algorithm. Based on the evaluation criteria of AWACS stability coverage， the airspace configuration is further optimized， and finally the optimization scheme of AWACS airspace configuration is obtained. The feasibility of this method in planning AWACS airspace configuration in irregular polygon responsibility area and the effectiveness of improving operational efficiency are verified by numerical simulation. The method has strong practical value and military value.

Driven by the technological advancements and military demands， unmanned aerial vehicle （UAV） swarm warfare has emerged as a disruptive new style of warfare that can change the rules of engagement. Fierce competition has unfolded among major military powers around "swarm technologies and tactics". The concept and advantages of UAV swarm operation are introduced， and the development of the swarm operation types abroad is summarized. Based on the shortages and restrictions of conventional military equipment， the anti-swarm operation and explores the development direction of anti-swarm equipment and technology is analyzed. A dynamic kill chain construction strategy is put forward to solve the problem of inadequate application of adequate anti-swarm approaches and theories， and achieve systematic confrontation by comprehensively using a variety of anti-UAV swarm equipment in the future，laying the solid foundation for the development of the systematized anti-swarm operation.

Aiming at the common current loop， speed loop and position loop control structure of dual-motor synchronous anti-backlash servo system， a simplified control strategy with stronger robustness and faster response speed is proposed. The positon controller of the servo system is designed based on the backstepping theory and the torque reference command is directly calculated and transmitted to the current loop from the reference position command after command-filter processing, which simplifies the control structure. The integral nonsingular terminal sliding surface is introduced in the backstepping controller design process which overcomes the chattering problem of the linear sliding mode control and makes the system reach the equilibrium state in finite time. The extended state observer （ESO） is adopted to compensate the external disturbance which makes the servo system more robust to the changes of the internal structure parameters and external disturbance torque. The co-simulation experiment is carried out in Matlab/Simulink and Adams and the results show that the proposed new dual-motor synchronous anti-backlash method has better tracking performance than tradition scheme and better anti-disturbance ability than the ordinary disturbance compensation method.

In order to avoid the tedious parameter tuning process， a self-tuning and optimization method for the speed loop controller parameters based on inertia identification is proposed. The design rules of the speed loop controller parameters are analyzed with the frequency method. The inertia is identified with recursive least square method with a forgetting factor. The controller parameters optimization is performed using the variable step iterative algorithm designed in this paper. Simulation results show that using the recursive least square method with a forgetting factor can effectively identify the moment of the inertia of a motor. Speed loop controller parameters， which are optimized by the method proposed， can provide the system good dynamic response and robustness.